TWI611883B - Industrial remote operating robot system - Google Patents

Abstract

The remote operation robot system includes: a master device; a slave arm having a plurality of control modes including an automatic mode and a manual mode; a control unit for causing the slave arm to act; an intruder detection device for detecting the action of invading the slave arm Intruders in the area; intruder identification information acquisition device to obtain intruder identification information, the intruder identification information identifying whether the intruder is the operator carrying the main device; and a motion suppression device based on the intruder detection device and the intruder Identify the information obtained by the information acquisition device to suppress the movement of the follower arm. The action suppression device suppresses the action of the slave arm when an intruder is detected in the automatic mode, and detects the intruder when the slave arm is in the manual mode, and continues the action of the slave arm if the intruder is the operator. If it is other than that, the action of the slave arm is suppressed.

Description

Industrial remote operation robot system

The present invention relates to an industrial remote operation robot system having a master device and a slave arm.

Conventionally, a remote operation robot system including a master device and a slave arm that operates in accordance with the operation of the master device is known. As the main device, a robot, a joystick, and an operation button are used. In such a remote operation robot system, there is a configuration in which the posture of the slave arm follows the posture of the robot as a master device. Such a technique is disclosed in Patent Document 1.

Patent Document 1 discloses a master-slave manipulator for medical use, which includes a portable arm operation unit as a master device. This portable arm operation section includes an operation table with an operator's belt attached to the shoulder, a display provided on the operation table, and a plurality of small main arms provided on the operation table. The front ends of the main operating arms are equipped with gripping pliers corresponding to the gripping pliers provided at the front end of the processing tool operated by the main arm.

Prior art literature

Patent literature

Patent Document 1: Japanese Unexamined Patent Publication No. 7-194609

The medical manipulator described in the above Patent Document 1 is composed of a manipulator and an installation Compared with industrial robots, those who operate with pliers on the front end of their hands have a slower motion speed and a narrower motion range. Therefore, if the manipulator for medical use is close to the manipulator when operating the main device, the safety of the operator will not be impaired. However, in industrial robots, if a human accidentally invades the robot's motion area, there is a risk that the human and the robot will collide. Therefore, as long as someone intrudes into the robot's motion area (for example, inside a safety fence) during the operation of the industrial robot, the robot will stop urgently.

Even so, in the industrial remote operation robot system, it may happen that the operator approaches the slave arm and operates the master device while confirming the action of the slave arm. Therefore, the present invention proposes a technology in which an operator in an industrial remote operation robot system can operate a master device within the action area of a slave arm.

A remote-operating robot system includes: a master device that accepts an operator's operation; a slave arm that has a plurality of control modes, the plurality of control modes include an automatic mode that operates according to a pre-stored work program and a master device Manual mode of the operation action of the accepted operator; the control unit causes the slave arm to operate in a mode selected from the plurality of control modes; an intruder detection device detects an intrusion into the action area of the slave arm Intruder; intruder identification information acquisition device for obtaining intruder identification information, the intruder identification information identifying whether the intruder is the aforementioned operator carrying the main device; and an action suppressing device, which detects Device and aforementioned intruder identification information Obtain information obtained by the device to suppress the action of the slave arm; the action suppressing device suppresses the action of the slave arm when an intruder is detected when the slave arm is in the automatic mode, and the slave arm is the aforementioned When an intruder is detected in the manual mode, if the intruder is the operator, the operation of the slave arm is continued, and if the intruder is other than the operator, the operation of the slave arm is suppressed.

According to the remote operation robot system described above, even if the operator carrying the master device intrudes into the movement area of the slave arm, the slave arm will continue to move. Therefore, the operator can operate the master device within the action area of the slave arm. Generally speaking, since the operator carrying the master device operates the master device while monitoring the movement of the slave arm, it can predict the movement of the slave arm and can operate the master device to avoid collision between the slave arm and itself.

Moreover, in the remote operation robot system, when the slave arm operates in the automatic mode, the action of the slave arm can be suppressed regardless of who the intruder intrudes into the action area of the slave arm. Therefore, it is possible to prevent the collision of the follower arm with the intruder who invades the action area.

According to the industrial remote operation robot system of the present invention, the operator can operate the master device within the action area of the slave arm.

1‧‧‧ Follower

2‧‧‧ operation panel

4‧‧‧ output device

5‧‧‧ Status acquisition device

6‧‧‧Control unit

7‧‧‧ input device

8‧‧‧ storage device

11a ~ 11f‧‧‧ connecting rod

15‧‧‧ abutment

16‧‧‧Motor control section

20‧‧‧Master

27‧‧‧Joystick

28‧‧‧Emergency stop button

29‧‧‧Control mode switch

32‧‧‧ Power

33‧‧‧ Connector

34‧‧‧Power Supply Road

41‧‧‧display device

60‧‧‧Host Control Department

61‧‧‧ Slave Control Department

63‧‧‧Receiving Department

64‧‧‧Output Control Department

65‧‧‧ Correction Department

90‧‧‧ safety fence

91‧‧‧ fence

93‧‧‧ Intruder detection device

93A‧‧‧Light curtain

931‧‧‧Lighting Department

932‧‧‧Light receiving section

94‧‧‧Intruder identification information acquisition device

941‧‧‧RF Tag

942‧‧‧ Reader

95‧‧‧ Motion suppression device

97‧‧‧Identification button

98‧‧‧Identification information output device

100‧‧‧ remote operation robot system

C1 ~ 6‧‧‧Current sensor

E1 ~ 6‧‧‧Position sensor

JT1 ~ 6‧‧‧Joint

M1 ~ 6‧‧‧Drive motor

FIG. 1 is a plan view showing a schematic configuration of a remote operation robot system according to an embodiment of the present invention.

FIG. 2 is a block diagram showing the configuration of a control system of a remote operation robot system.

Fig. 3 is a block diagram showing the structure of the control system of the slave arm.

FIG. 4 is a block diagram showing a configuration of a control system of a remote operation robot system including an intruder identification information acquisition device according to a modification.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(Remote Operation Robot System 100)

FIG. 1 is a block diagram showing a schematic configuration of a remote operation robot system 100 provided with an embodiment of the present invention, and FIG. 2 is a block diagram showing a control system configuration of the remote operation robot system 100. As shown in FIGS. 1 and 2, the remote operation robot system 100 is a master-slave robot system, which includes a slave arm 1, a master device 20, an input device 7, an output device 4, a status acquisition device 5, and intruder detection. The device 93, the intruder identification information acquisition device 94, the action suppression device 95, and the control unit 6 of the integrated control system 100.

The slave arm 1 of this embodiment has three control modes of an automatic mode, a manual mode, and a correction automatic mode. The control mode of the slave arm 1 can be switched, and the operation can be controlled by a selected one of the plurality of control modes.

In this specification, a control mode in which the slave arm 1 operates according to a preset work program is referred to as an "automatic mode". In the automatic mode, similarly to the conventional teaching playback robot, a predetermined operation is automatically performed by the slave arm 1 without the operation of the master device 20 of the operator.

In this specification, a control mode in which the slave arm 1 operates according to an operator's operation accepted by the master device 20 is referred to as a "manual mode". The host device 20 can accept an operation inputted by an operator directly moving the host device 20. In addition, in the manual mode, the operation of the operator accepted by the master device 20 or the movement of the slave arm 1 according to the operation can also be automatically repaired. positive.

In this specification, a control mode in which the slave arm 1 operates in accordance with a preset work program while successively correcting by the operation of the operator accepted by the master device 20 is referred to as a "correction automatic mode". In the correction automatic mode, the movement of the slave arm 1 that operates according to a preset work program is corrected in accordance with the operation of the operator accepted by the master device 20.

Hereinafter, each component of the remote operation robot system 100 will be described in detail.

(Slave arm 1)

As shown in FIG. 2, the slave arm 1 is a multi-joint robotic arm, which is composed of a connecting body of a plurality of links 11 a to 11 f and a base 15 supporting the same, and has a plurality of joints JT1 to JT6. More specifically, in the first joint JT1, the base 15 and the base end portion of the first link 11a are connected to be rotatable about an axis extending in the vertical direction. In the second joint JT2, the front end portion of the first link 11a and the base end portion of the second link 11b are connected to be rotatable about an axis extending in the horizontal direction. In Joint # 3, the front end portion of the second link 11b and the base end portion of the third link 11c are connected so as to be rotatable about an axis extending in the horizontal direction. In the fourth joint JT4, the front end portion of the third link 11c and the base end portion of the fourth link 11d are connected to be rotatable about an axis extending in the longitudinal direction of the fourth link 11d. In the fifth joint JT5, the front end portion of the fourth link 11d and the base end portion of the fifth link 11e are connected to be rotatable about an axis orthogonal to the longitudinal direction of the fourth link 11d. In the sixth joint JT6, the front end portion of the fifth link 11e and the base end portion of the sixth link 11f are connected so as to be rotatable. A mechanical interface is provided at the front end of the sixth link 11f. A terminal effector 12 (see FIG. 1) corresponding to the operation content is detachably mounted on the mechanical interface.

FIG. 3 is a block diagram showing the configuration of the control system of the slave arm 1. As shown in FIG. This figure shows a specific electrical configuration centered on the motor control section 16. As shown in FIG. 3, each joint JT1 to JT6 of the follower arm 1 is provided with an actuation for relatively rotating two members connected by the joint One example is the drive motors M1 ~ M6. The drive motors M1 to M6 are, for example, servo motors that are servo-controlled by the motor control unit 16. In addition, each of the drive motors M1 to M6 is provided with position sensors E1 to E6 for detecting its rotation position and current sensors C1 to C6 for detecting a current that controls its rotation. The position sensors E1 to E6 need only be those capable of detecting a rotational position, such as an encoder, a resolver, and a pulse generator. In addition, in the description of the drive motors M1 to M6, the position sensors E1 to E6, and the current sensors C1 to C6, the letters 1 to 6 are added to the letters corresponding to the joints JT1 to JT6. In the following description, when any of the joints JT1 to JT6 is shown, the added word is omitted and referred to as "JT", and the same applies to the drive motor M, the position sensor E, and the current sensor C.

The driving motor M, the position sensor E, and the current sensor C are electrically connected to the motor control unit 16. Although the motor control unit 16 of this embodiment can perform servo control on a plurality of drive motors M, one motor control unit corresponding to each drive motor M may be provided.

Power is supplied from the power source 32 to the motor control unit 16 via the power supply path 34. A connector 33 is provided in the power supply path 34 to switch the power supply to the motor control unit 16 from the power supply 32 and the supply interruption. The connector 33 is turned on by receiving an emergency stop signal from the control unit 6 and cuts off the power supply from the power source 32 to the motor control unit 16.

The motor control unit 16 generates a drive command value (current command value) based on a position command value or a servo gain obtained from a control unit 6 (more specifically, the slave control unit 61) to be described later, and corresponds to the drive command value. The driving current is supplied to the driving motor M. The output rotation angle of the drive motor M is detected by the position sensor E, and is fed back to the motor control unit 16. However, the functions of the motor control section 16 and the driven control section 61 may also be implemented by a single circuit or a single computing device.

In the slave control unit 6 (more specifically, the slave control unit 61), the motor control unit 16 After the position command value is input, the input position command value is given to the input on the positive side of the subtractor. A signal (current position value) indicating a rotation angle detected by the position sensor E is given to an input on the negative side of the subtractor 31b. The subtractor 31b subtracts the rotation angle from the position command value. The output of the subtractor 31b is given to the coefficientr 31c, where it is increased by the position gain Kp, and then given to the + input of the subtractor 31e. The minus input of the subtractor 31b is a value obtained by differentiating the rotation angle from the position sensor E by the differentiator 31d. The output of the subtractor 31b is given to the coefficientr 31f, where it is increased by the speed gain Kv, and then given to the + input of the subtractor 31g. The-input of this subtractor 31g is given a current value from the current sensor C. The subtracted output of the reducer 31g is input as a drive command value to the amplifier circuit 31h, and a drive current corresponding to the drive command value after the boost is supplied to the drive motor M.

(Main unit 20)

The host device 20 is a means for accepting an operation by an operator. The remote operation robot system 100 according to this embodiment uses the transportable operation panel 2 as the main device 20. The operation panel 2 is provided with a joystick 27 that accepts operations related to the position or posture of the follower arm 1. In this embodiment, although the joystick 27 is used as an operation tool for receiving operations related to the position or posture of the slave arm 1, it may be used instead of the joystick 27 or further, for example, a robot, a touch panel, a button, Known operation input tools such as levers, buttons, switches, dials, etc.

As part of the input device 7, the operation panel 2 is provided with an emergency stop button 28 that accepts an instruction to forcibly stop the slave arm 1, and a control mode switch 29 that accepts a switching operation of the control mode of the slave arm 1. An input device 7 other than the above is provided on the operation panel 2.

A display device 41 and a speaker (not shown) are mounted on the operation panel 2 as part of the output device 4.

The main device 20 and the control unit 6 are wirelessly communicable. The main device 20 accepts operations of various operation tools by the operator, and inputs the accepted operations to the control unit 6.

[Input device 7]

The input device 7 is provided outside the work space together with the main device 20, and is an input means for receiving an operation instruction from an operator and inputting the received operation instruction to the control unit 6. The input device 7 performs operations other than operations related to the position or posture of the slave arm 1. The input device 7 includes an operation input tool such as a control mode switching switch 29 or an emergency stop button 28 that inputs one or more operation instructions other than the position or posture of the slave arm 1. Operation input tools above 1 may also include known operation input tools such as touch panels, keys, levers, buttons, switches, dials, and the like. Alternatively, a portable terminal such as a pendant or a tablet may be used as the input device 7.

[Status acquisition device 5]

The status acquisition device 5 is a means for obtaining status information showing the status of the slave arm 1 in the work space. The condition information includes the position and posture of the slave arm 1 in the work space, or information used to identify the condition around the slave arm 1. More specifically, the status information includes, for example, the position and posture of the follower arm 1 in the work space, the positional relationship between the follower arm 1 and the workpiece, or the position of the follower arm 1 and the parts to be assembled for assembling and assembling the parts. Information such as relationships can be used to identify the status of the slave arm 1 and the conditions around the slave arm 1 in the working space.

The status acquisition device 5 can be implemented by, for example, a sensor, a camera device 5 (see FIG. 1), a communicator, and an encoder. As the sensor, for example, a laser sensor or a radar sensor for measuring a distance or a position to a workpiece (assembly part) or an assembled part can be exemplified. Furthermore, it is possible to exemplify the measurement from the slave arm 1 to its surroundings using image data obtained from a plurality of photographing devices. The sensor of the distance to the object is a stereo camera. Examples of the communicator include a communicator for acquiring information from a sensor and a photographing device, and the sensor and the photographing device are installed at a predetermined position in an assembly part, an assembly part, or a work space. As an encoder, for example, an encoder capable of detecting the movement amount or position of the slave arm 1 can be exemplified.

The situation acquisition device 5 successively obtains situation information, and the obtained situation information is input to a control unit 6 described later, and is used in the control unit 6 for operation control of the slave arm 1. Furthermore, the control unit 6 may be configured to control such that the status information is output to the output device 4. The status acquisition device 5 may also be installed on the slave arm 1 or may be installed at an appropriate position in the work space. In addition, the number of installed condition obtaining devices 5 may be one or plural. As long as an appropriate number of condition acquisition devices 5 are installed at positions where the condition information can be appropriately obtained, the installation positions and the number of installations are arbitrary.

[Output device 4]

The output device 4 is used to output information sent from the control unit 6. The output device 4 is provided at a position that can be easily seen by an operator in the operation main device 20. The output device 4 includes at least a display device 41, and may further include a printer, a speaker, an alarm lamp, or the like. The display device 41 displays and outputs information transmitted from the control unit 6. For example, the speaker outputs information transmitted from the control unit 6 as sound. In addition, for example, in the printer, the information sent from the control unit 6 is printed and output to a recording medium such as paper.

[Storage Device 8]

Various working programs for controlling the slave arm 1 are stored in the storage device 8. Work program can be used as the action flow of each operation. The work program can be created by teaching, for example, and stored in the storage device 8 in correspondence with the identification information and work of the slave arm 1. In addition, storage Although the device 8 is recorded separately from the control unit 6, the storage device provided by the control unit 6 can also be responsible for the function of the storage device 8.

The storage device 8 stores previously created operation sequence information. The operation sequence information is information related to an operation sequence that specifies a series of operation steps to be performed by the slave arm 1 in the work space. This action sequence information corresponds to the action sequence of the operation steps and the control mode of the slave arm 1. In addition, this action sequence information is a corresponding relationship between the work programs that will cause the slave arm 1 to automatically perform its work for each operation step. However, the operation sequence information may include a program for automatically performing the operation of the slave arm 1 for each operation step.

[Control unit 6]

As shown in FIG. 2, a slave arm 1, a master device 20, an output device 4, a status acquisition device 5, an input device 7, and a storage device 8 are communicably connected to the control unit 6 in a wired or wireless manner.

The control unit 6 is a so-called computer, and includes an arithmetic processing unit such as a CPU and a storage unit such as a ROM and a RAM (neither of which is shown). The storage section stores a control program executed by the control unit 6 or various fixed data. The arithmetic processing unit performs, for example, receiving and transmitting data with an external device such as the input device 7, the output device 4, and the storage device 8. In addition, the arithmetic processing unit performs input of detection signals from various sensors or output of control signals to each control object. The control unit 6 reads out and executes software such as a program stored in the storage unit by the arithmetic processing unit, and executes the processing to control various operations of the system 100. In addition, the control unit 6 may execute each process by centralized control of a single computer, or may execute each process by distributed control of coordinated actions of a plurality of computers. The control unit 6 may be configured by a microcontroller, a programmable logic controller (PLC), or the like.

The control unit 6 includes a master control unit 60 as a functional block, a slave control unit 61, a receiving unit 63, an output control unit 64, and a correction unit 65. In Figure 2, these functional blocks are aggregated. It is shown in one control unit 6, but each functional block or a combination of a plurality of functional blocks can also be realized by an independent computer of 1 or more. In this case, one part of these function blocks may be arranged in the work space, and the remaining part may be arranged in the work space.

The slave control unit 61 controls the operation of the slave arm 1. When the driven control section 61 is in the automatic mode, it reads out the work program stored in the storage device 8 and generates a position command value according to the work program. The position command value or servo gain is given to the motor control section 16 of the slave arm 1. . When the slave control unit 61 is in the manual mode, the position command value is generated based on the operation information received by the master device 20 and received by the receiving unit 63, and the position command value or servo gain is used to control the motor of the slave arm 1. Section 16 gives. In addition, in the correction automatic mode, the slave control unit 61 reads a work program stored in the storage device 8 and generates a position command value (or a corrected position command) based on the work program and the correction command value obtained from the correction unit 65. Value), a position command value, a servo gain, and the like are given to the motor control unit 16 (see FIG. 3). In addition, if a correction command value is not given from the correction unit 65 in the correction automatic mode, the correction command value is calculated as zero.

The receiving unit 63 receives an input signal sent from the outside of the control unit 6. Examples of the input signal received by the receiving unit 63 include a signal transmitted from the main device 20, that is, the operation panel 2, a signal transmitted from the input device 7, and status information transmitted from the status acquisition device 5.

The output control unit 64 controls the output device 4 and outputs information notifying the operator to the output device 4. For example, when the output device 4 starts the selection part in the operation sequence, the output device 4 outputs to the display device 41 the information identifying the target slave arm 1 and the information for prompting the selection input of the control mode of the slave arm 1. For example, when the control mode of the slave arm 1 of the output device 4 is the manual mode and the correction automatic mode, the output information of the slave arm 1 operated by the master device 20 is output to the display device 41. Also, for example, the output device 4 is produced in the system 100 When a malfunction occurs, an alarm is output to the speaker or the display device 41.

The correction unit 65 corrects the movement of the slave arm 1 based on the operation accepted by the master device 20 when the control mode of the slave arm 1 is the correction automatic mode. For example, when the operator changes the position and posture of the joystick 27 by moving the joystick 27, the main device 20 accepts the displacement of this position and orientation as a correction instruction, and inputs it to the control unit 6. When the control mode of the slave arm 1 is the correction automatic mode, after the receiving unit 63 receives the correction instruction signal, the correction unit 65 generates a correction instruction value according to the correction instruction signal. The calculation formula or map for obtaining the correction command value from the correction command signal is stored in advance. Such a correction command value may be, for example, a value proportional to the amount of change in the position and posture of the joystick 27. The generated correction command value is transmitted to the slave control unit 61, and the slave control unit 61 outputs the corrected position command value to the motor control unit 16 (see FIG. 3).

The master control unit 60 reads the operation sequence information stored in the storage device 8 and operates the slave arm 1, the master device 20, the output device 4, and the status acquisition device 5 according to the operation sequence information to control the slave. The section 61, the output control section 64, and the correction section 65 output instructions.

[Remote operation of the robot system 100]

Next, an example of the operation of the remote operation robot system 100 configured as described above will be described. Here, the operation flow of the system 100 will be described by taking as an example the configuration of the remote operation robot system 100 on an automobile assembly line and the follower arm 1 performing a work of installing a sheet on a car body. However, the remote operation robot system 100 of the present invention is not limited to the above-mentioned automobile assembly line, and can be widely applied to various manufacturing equipment.

The operation sequence information of the sheet material installation operation for the car body stored in the storage device 8 is performed by the part removal work T1 of removing the sheet material from the container, and the part transfer work T2 of the sheet material near the installation position of the car body. The sheet located near the installation position The component installation work T3 is constituted, and these tasks T1 to T3 are repeatedly performed in this order. The part removal work T1 and the part transfer work T2 in this action sequence are "automatic parts" in which the slave arm 1 operates in automatic mode. In the automatic part of the action sequence, the automatic mode is used as a control mode to establish a corresponding relationship. In addition, the part installation work T3 in the operation sequence is a "selection part" in which the slave arm 1 operates in the control mode selected from the automatic mode, the manual mode, and the correction automatic mode. There is no corresponding relationship between the specific control modes in the selection part of the action sequence. The control mode is the one that can be selected.

First, the control unit 6 reads out predetermined operation sequence information stored in the storage device 8 and starts control of the system 100 according to the operation sequence information.

First, the control unit 6 reads out the work program of the part removal work T1 from the storage device 8 and executes it. Next, the control unit 6 reads out the work program of the part transfer work T2 from the storage device 8 and executes it. In the part removal work T1 and the part transfer work T2, the control unit 6 controls the movement of the slave arm 1 in an automatic mode.

After the part transfer work T2 is completed, the control unit 6 causes the display device 41 to display a selection screen for prompting the operator to select a control mode for the next part installation work T3. At the same time, the control unit 6 outputs the status information of the slave arm 1 to be selected to the control mode to the display device 41. Here, the status information displayed and output on the display device 41 may include the identification information of the displayed slave arm 1 or the content of a program performed next.

The operator selects one of three control modes based on the status information of the slave arm 1 displayed on the display device 41. The selection of the control mode by the operator is accepted by the main device 20 or the input device 7 and input to the control unit 6.

In the above, after the automatic mode is selected, the control unit 6 reads out the work program of the part installation work T3 from the storage device 8, and the control unit 6 controls the operation of the slave arm 1 in the automatic mode. action. After the manual mode is selected, the control unit 6 controls the operation of the slave arm 1 in the manual mode. Alternatively, after the correction automatic mode is selected, the control unit 6 controls the operation of the slave arm 1 in the correction automatic mode.

In the above, after any one of the manual mode and the correction automatic mode is selected, the control unit 6 causes the status information of the slave arm 1 to be displayed on the display device 41 throughout the entire program. As described above, the control unit 6 sequentially performs the operation steps in accordance with the operation sequence.

[Intruder detection device 93]

The intruder detection device 93 is a device that detects an intruder including an operator who has invaded the operating area of the slave arm 1. In the present embodiment, the intruder detection device 93 is composed of a light curtain 93A. However, the intruder detection device 93 is not limited to the light curtain 93A. For example, a plurality of camera devices 51 that capture the action area of the slave arm 1 and an image analysis device that analyzes captured images with the camera device 51 to detect the intruder ( (Illustration omitted).

As shown in FIG. 1, the operating area of the follower arm 1 is surrounded by a safety fence 90. The safety fence 90 is composed of a fence 91 surrounding three of the four sides around the operating area of the follower arm 1 and a light curtain 93A surrounding the remaining one of the four sides around the operating area of the follower arm 1. However, the safety fence 90 may be a light curtain formed around the movement area of the follower arm 1 in all directions. The intruder can penetrate the light curtain 93A and intrude into the action area of the slave arm 1.

The light curtain 93A includes a light emitting section 931 and a light receiving section 932. The light emitted from the light emitting section 931 is received by the light receiving section 932. The light receiving unit 932 detects that the object has passed because it did not receive light, that is, the light was blocked by the object passing through the light curtain 93A. The light curtain 93A is wired or wirelessly connected to enable communication with the motion suppression device 95. After the light curtain 93A detects the passing of the object, it will output the detection signal of the intruder to the motion suppression device 95.

In addition, in this embodiment, although the range surrounded by the safety fence 90 is defined as the operation area of the follower arm 1, the operation area of the follower arm 1 may be a smaller area. For example, an area in which the end effector 12 and the area reachable by the workpiece are added to the operating area or working area of the slave arm 1 may be defined as the action area of the slave arm 1. In addition, the restricted area or operation area of the slave arm 1 may be defined as the action area of the slave arm 1. As described above, in the case where the action area of the follower arm 1 is defined as being smaller than the area surrounded by the safety fence 90, a light curtain surrounding the action area or a camera monitoring the action area or a pressure covering the action area can be used An inductive sensor or the like is used as the intruder detection device 93.

[Intruder identification information acquisition device 94]

The intruder identification information acquisition device 94 is used to obtain intruder identification information, and the intruder identification information is used to identify whether an intruder who intrudes into the action area of the slave arm 1 is an operator carrying the master device 20. The intruder identification information acquisition device 94 of this embodiment uses RFID. The RFID is composed of an RF tag 941 and a reader 942 that reads information stored in the RF tag 941.

The RF tag 941 is provided on the main device 20 (operation panel 2). The RF tag 941 stores unique ID information. In addition, instead of the RF tag 941, other information media capable of reading and writing the data of the built-in memory in a non-contact manner may be used.

The reader 942 is provided near the light curtain 93A. This reader 942 can use radio waves (electromagnetic waves) to read data stored in the RF tag 941 provided in the main device 20 (crossing the light curtain 93A) in a non-contact manner. The reader 942 is wired or wirelessly connected so as to be able to communicate with the motion suppression device 95. The reader 942 outputs ID information (intruder identification information) read from the RF tag 941 to the motion suppression device 95.

[Motion suppression device 95]

The action suppressing device 95 suppresses the action of the slave arm 1 according to the conditions based on the information obtained from the intruder detection device 93 and the intruder identification information acquisition device 94. The operation suppressing device 95 is a so-called computer, and includes an arithmetic processing unit such as a CPU and a storage unit such as a ROM and a RAM (neither of which is shown). Alternatively, the operation suppression device 95 is composed of an arithmetic processing unit such as a CPU and an emergency stop circuit. The motion suppression device 95 is wired or wirelessly connected so as to be able to communicate with the control unit 6, the connector 33, the intruder detection device 93, and the intruder identification information acquisition device 94.

The motion suppression device 95 receives an intruder detection signal from the intruder detection device 93, and detects that there is an intruder in the movement area of the slave arm 1 (in the security fence 90 in the present embodiment). After detecting the intruder, the action suppression device 95 causes the intruder identification information acquisition device 94 to operate, and obtains the intruder identification information from the intruder identification information acquisition device 94. The motion suppression device 95 determines whether the intruder is an operator based on the obtained intruder identification information.

Here, the action suppression device 95 successfully reads ID information (intruder identification information) from the RF tag 941 in the reader 942, and the ID information is stored in advance with the slave arm 1 (or the master capable of operating the slave arm 1). When the ID information of the device 20 is consistent, it is determined that the intruder is an operator carrying the main device 20. In addition, the action suppression device 95 successfully read the ID information from the RF tag 941 in the reader 942, and the ID information is not consistent with the ID information of the slave arm 1 (or the master device 20 capable of operating the slave arm 1) stored in advance. At that time, it is judged that the intruder is other than the operator. When the reader 942 fails to read the ID information within a predetermined time, the operation suppression device 95 determines that the intruder is a person other than the operator.

Next, the operation suppressing device 95 performs the next process as required. The following table 1 shows the next processing performed by the action suppression device 95 according to each condition. In Table 1, the headings of the rows indicate intruders (operators, non-operators) intruding into the operating area of the slave arm 1, and the headings of the columns indicate Control mode of boom 1 (automatic mode, manual mode, modified automatic mode).

As shown in Table 1, when the slave arm 1 is in the automatic mode, the action of the slave arm 1 is suppressed regardless of whether the intruder is an operator or someone other than the operator. Here, the operation suppressing device 95 outputs an emergency stop signal to the connector 33 so that the connector 33 is in a supply interrupted state. As a result, the power supply from the power source 32 to the motor control unit 16 is stopped, and the slave arm 1 is stopped urgently. In addition, as described above, although the operation suppressing device 95 of this embodiment is implemented as an emergency stop of the operation suppression of the slave arm 1, the aspect of the operation suppression is not limited to this. The action suppression of the follower arm 1 can also be achieved by any one of the deceleration of the action, the stop of the action (that is, the action speed is zero), and an action stop device 95 set in advance during the emergency stop. Alternatively, the motion suppression device 95 may automatically select a motion suppression aspect from among the plurality of aspects based on a plurality of pieces of information such as the control mode of the slave arm 1 or the condition information obtained from the condition acquisition device 5. When the action of the slave arm 1 is decelerated or stopped, the action suppression device 95 outputs a command to the control unit 6 in such a manner as to stop or decelerate the action of the slave arm 1.

When the follower arm 1 is in the manual mode or the correction automatic mode, if the intruder is an operator, the operation of the follower arm 1 is continued, and if the intruder is other than the operator, the operation of the follower arm 1 is suppressed. Here, the motion suppression device 95 is the same as described above when suppressing the motion of the slave arm 1. Ground, a process of emergency stopping the follower arm 1 is performed. In addition, when the operation suppressing device 95 continues the operation of the slave arm 1, it does not perform processing and continuously monitors an intruder who intrudes into the operation area of the slave arm 1. In addition, when the action suppressing device 95 continues the operation of the slave arm 1, the maximum movement speed of the front end portion of the slave arm 1 may be limited to a safe speed (for example, 250 mm / s or less) to give a command to the control. Unit 6.

As described above, the industrial remote operation robot system 100 according to this embodiment includes: a master device 20 that accepts an operator's operation; and a slave arm 1 that has a plurality of control modes. An automatic mode that operates according to a work program and a manual mode that operates according to an operator's operation accepted by the master device 20; the control unit 6 operates the slave arm 1 in a mode selected from a plurality of control modes; intrusion An intruder detection device 93 detects an intruder who has intruded into the action area of the slave arm 1; an intruder identification information acquisition device 94 obtains intruder identification information that identifies whether the intruder is an operator carrying the master device 20 And the motion suppression device 95 suppresses the motion of the slave arm 1 based on the information obtained from the intruder detection device 93 and the intruder identification information acquisition device 94.

In addition, the action suppression device 95 suppresses the action of the slave arm 1 when the intruder is detected when the slave arm 1 is in the automatic mode, and detects the intruder when the slave arm 1 is in the manual mode. When the intruder is other than the operator, the operation of the slave arm 1 is suppressed.

Furthermore, in the system 100, the plurality of control modes further include a correction automatic mode, which operates in accordance with a work program while successively making corrections by an operator's operation accepted by the host device 20. The action suppressing device 95 detects the intruder when the slave arm 1 is in the correction automatic mode, and continues the action of the slave arm 1 if the intruder is the operator, and if the intruder is the operator Those other than the author suppress the movement of the follower arm 1.

According to the remote operation robot system 100 described above, even if the operator carrying the master device 20 intrudes into the motion area of the slave arm 1, the slave arm 1 will continue to move. Therefore, the operator can operate the master device 20 within the operating area of the slave arm 1. Generally speaking, since the operator carrying the master device 20 operates the master device 20 while monitoring the movement of the slave arm 1, it can predict the movement of the slave arm 1, and can operate the master device 20 to avoid the slave arm 1 and Collision of itself. Therefore, the safety of the operator carrying the main device 20 can be ensured.

Furthermore, in the remote operation robot system 100 described above, when the follower arm 1 operates in the automatic mode, the action of the follower arm 1 can be suppressed regardless of who is an intruder who intrudes into the action area of the follower arm 1. Therefore, it is possible to prevent the follower arm 1 from colliding with an intruder who intrudes into the action area.

Furthermore, in the remote operation robot system 100 described above, the operator can select the control mode of the slave arm 1 from the automatic mode, the manual mode, and the modified automatic mode according to the work content or the condition of the slave arm 1. The selection of the control mode can be made by the judgment of the operator. For example, the operations of holding fragile parts, precision fitting, correct positioning, or axis alignment are preferably performed in a manual mode or a correction automatic mode that enables the movement of the slave arm 1 to reflect the operation of the operator. In this kind of operation, for example, when it is predicted that a bad situation will occur if the slave arm 1 is fully operated automatically, the correction automatic mode may be selected. In the correction automatic mode, while the slave arm 1 is based on the automatic operation of the follower arm, its operation can be corrected through the operation of the operator. Therefore, compared with the manual mode, the operator has a smaller load and can suppress the decrease in work efficiency. As described above, according to the system 100, an operator can realize a non-stop robot system by selecting an appropriate control mode corresponding to a situation from a plurality of control modes according to each operation.

In addition, the aforementioned industrial remote operation robot system 100 allows intruder identification information The acquisition device 94 includes an RF tag 941 provided in the main device 20 and a reader 942 that reads out the information of the RF tag 941 and outputs the information to the motion suppression device 95.

Thereby, the operator carrying the main device 20 does not need to perform any special operation, and the intruder identification information is sent to the action suppressing device 95, and the action suppressing device 95 automatically performs the process of identifying the intruder.

As mentioned above, although the preferred embodiment of this invention was described, the said structure can also be changed as follows, for example.

For example, in the above embodiment, although RFID is used as the intruder identification information acquisition device 94, the intruder identification information acquisition device 94 is not limited to this. For example, as shown in FIG. 4, the intruder identification information acquisition device 94 is set by The identification information output device 98 that outputs the ID information (intruder identification information) of the host device 20 to the operation suppression device 95 from the operation panel 2 after the identification button 97 of the operation device 2 is operated on the host device 20 and when the identification button is pressed. Make up. Here, the action suppression device 95 receives the intruder identification information from the identification information output device 98, and compares it with the ID information of the slave arm 1 (or the master device 20 capable of operating the slave arm 1) stored in advance to determine the intruder. It is the operator or someone other than the operator.

In the above modification, the intruder identification information acquisition device 94 includes an identification information output device 98 that outputs the identification information of the main device 20 to the action suppression device 95 when the identification button 97 and the identification button 97 are operated on the main device 20.

As described above, the intruder identification information acquisition device 94 can be made simple, and the operator can subconsciously provide the intruder identification information to the motion suppression device 95.

From the above description, for those who have ordinary knowledge in the technical field to which the invention belongs, In other words, many improvements or other embodiments of the present invention are clear. Therefore, the above description should be interpreted only as an example, and is provided for the purpose of teaching the best mode for carrying out the present invention to those having ordinary knowledge in the technical field to which the invention belongs. The details of the structure and / or function can be substantially changed without departing from the spirit of the present invention.

1‧‧‧ Follower

2‧‧‧ operation panel

4‧‧‧ output device

5‧‧‧ Status acquisition device

6‧‧‧Control unit

7‧‧‧ input device

8‧‧‧ storage device

11a ~ 11f‧‧‧ connecting rod

15‧‧‧ abutment

16‧‧‧Motor control section

20‧‧‧Master

27‧‧‧Joystick

28‧‧‧Emergency stop button

29‧‧‧Control mode switch

41‧‧‧display device

60‧‧‧Host Control Department

61‧‧‧ Slave Control Department

63‧‧‧Receiving Department

64‧‧‧Output Control Department

65‧‧‧ Correction Department

93‧‧‧ Intruder detection device

94‧‧‧Intruder identification information acquisition device

941‧‧‧RF Tag

95‧‧‧ Motion suppression device

100‧‧‧ remote operation robot system

JT1 ~ 6‧‧‧Joint

Claims (4)

A remote-operating robot system includes: a master device that accepts an operator's operation; a slave arm having a plurality of control modes, the plurality of control modes including an automatic mode of action according to a pre-stored work program and a master device according to the foregoing Manual mode of the operation action of the accepted operator; the control unit causes the slave arm to operate in a mode selected from the plurality of control modes; an intruder detection device detects an intrusion into the action area of the slave arm Intruder; intruder identification information acquisition device for obtaining intruder identification information, the intruder identification information identifying whether the intruder is the aforementioned operator carrying the main device; and an action suppressing device, which is detected based on the intruder The device and the information obtained by the intruder identification information acquisition device to suppress the action of the slave arm; the action suppression device suppresses the action of the slave arm when an intruder is detected when the slave arm is in the automatic mode, When an intruder is detected when the slave arm is in the manual mode, Of the trespasser so that the operator is an operation of the slave arm to continue, if the intruder is other than the operator's operation of the boom is suppressed. For example, the remotely operated robot system of the first scope of the patent application, wherein the aforementioned plurality of control modes further include: a correction automatic mode, which is based on the aforementioned work program while successively amending by the operation of the operator accepted by the main device. Action; the action suppressing device, after the intruder is detected when the follower arm is in the correction automatic mode, if the intruder is the operator, the action of the follower arm is continued. If the intruder is a person other than the operator, the action of the follower arm is suppressed. For example, the remote-operating robot system of the first or second scope of the patent application, wherein the intruder identification information acquisition device includes an RF tag provided in the main device, reads the information of the RF tag, and outputs the action suppression device. Reader. For example, the remotely operated robot system of the first or second patent application scope, wherein the intruder identification information acquisition device includes an identification button provided on the main device, and identification information of the main device when the identification button is operated. The identification information output device output to the aforementioned motion suppression device.